JP2007145075A - Vehicular anti-lock controller - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To improve accuracy of anti-lock control by properly estimating a road surface frictional coefficient used for anti-lock control. <P>SOLUTION: A road surface frictional coefficient estimating part M5a estimates a road surface frictional coefficient based on a braking force calculated by a braking force calculating part M4, a wheel acceleration calculated by a wheel acceleration calculating part M2 and a wheel contact load calculated by a contact load calculating part M3. Moreover, a road surface frictional coefficient updating part M5 updates the road surface frictional coefficient when a slip rate calculated by a slip rate calculating part M1c based on a wheel speed and vehicle body speed is on an increase and is smaller than a predetermined value. Anti-lock control is performed with high accuracy based on a reference fluid pressure calculated by a reference fluid pressure calculating part M6 so as to stabilize the slip rate in a narrow range. An update timing of the road surface frictional coefficient is determined based on the stable slip rate to appropriately grasp a peak of the road surface frictional coefficient, thus attaining highly accurate anti-lock control. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention controls the hydraulic pressure supplied to the wheel brake based on the reference hydraulic pressure and the road surface friction coefficient when it is determined that the wheel tends to lock based on the wheel speed detected by the wheel speed sensor. The present invention relates to an anti-lock control device for a vehicle provided with anti-lock control means for suppressing the lock of the vehicle.

When the anti-lock control is started in the anti-lock control of the vehicle which reduces the hydraulic pressure supplied to the wheel brake and suppresses the lock of the wheel when the wheel is about to be locked due to the excessive braking force of the hydraulic wheel brake. The reference hydraulic pressure that is used as the reference for PID feedback control of the hydraulic pressure supplied to the wheel brake is obtained by correcting the actual hydraulic pressure at the start of antilock control with the wheel acceleration / deceleration, and the antilock control is started. Later, it is known from Patent Document 1 below that the reference hydraulic pressure obtained at the start of the control is corrected in accordance with the wheel locking tendency and used for PID feedback control.
Japanese Patent No. 3382269

  By the way, the above-mentioned conventional one only classifies the road surface friction coefficient into three stages of a low road surface friction coefficient region, a middle road surface friction coefficient region, and a high road surface friction coefficient region according to the reference hydraulic pressure at the start of the antilock control. Yes, it was difficult to say that the road surface friction coefficient was accurately estimated and reflected in anti-lock control.

  The present invention has been made in view of the above circumstances, and an object thereof is to improve the accuracy of antilock control by accurately estimating a road surface friction coefficient used in antilock control.

  In order to achieve the above object, according to the first aspect of the present invention, the hydraulic pressure supplied to the wheel brake when it is determined that the wheel tends to lock based on the wheel speed detected by the wheel speed sensor. In the anti-lock control device of the vehicle provided with the anti-lock control means for suppressing the lock of the wheel by controlling the vehicle based on the reference hydraulic pressure and the road surface friction coefficient, the anti-lock control means is generated by the wheel brake. A braking force calculation unit that detects or estimates a braking force that is present, a wheel acceleration calculation unit (M2) that calculates wheel acceleration based on the wheel speed, a ground load calculation unit that detects or estimates a ground load on the wheel, A road surface friction coefficient estimator for estimating a road surface friction coefficient based on the braking force, the wheel acceleration and the ground load, and a vehicle body speed based on the wheel speed A vehicle body speed calculating section, a slip ratio calculating section for calculating a wheel slip ratio based on the wheel speed and the vehicle body speed, and the road surface friction coefficient when the slip ratio is increasing and smaller than a predetermined value. An antilock control device for a vehicle is provided, comprising: a road surface friction coefficient updating unit that updates a road surface friction coefficient estimated by the estimation unit.

  According to the configuration of the first aspect, the anti-lock control means controls the hydraulic pressure supplied to the wheel brake based on the reference hydraulic pressure and the road surface friction coefficient when it is determined that the wheel tends to be locked based on the wheel speed. Estimated the road friction coefficient based on the braking force generated by the wheel brake, the wheel acceleration calculated based on the wheel speed, and the wheel contact load, and calculated based on the wheel speed and the vehicle body speed. Since the road surface friction coefficient is updated when the slip ratio of the wheel is increasing and smaller than a predetermined value, the anti-lock control is accurately performed based on the reference hydraulic pressure to stabilize the slip ratio within a narrow range. By determining when to update the road friction coefficient based on the slip ratio, the peak of the road friction coefficient can be accurately grasped and more accurate antilock control can be performed. It can be.

  DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below based on examples of the present invention shown in the accompanying drawings.

  1 to 8 show a first embodiment of the present invention, FIG. 1 is a diagram showing a braking system of a vehicle, FIG. 2 is a diagram showing a configuration of a braking hydraulic circuit, and FIG. 3 is an electronic control unit. FIG. 4 is a block diagram showing the configuration, FIG. 4 is a diagram showing a map for searching the reference hydraulic pressure from the road surface friction coefficient and the contact load, and FIG. 5 is a diagram showing a map for searching for a correction coefficient for correcting the lower reference hydraulic pressure from the slip ratio. 6 is a diagram for explaining the functions of the lower reference hydraulic pressure and the upper reference hydraulic pressure, FIG. 7 is a graph showing a change in the target hydraulic pressure during antilock control, and FIG. 8 is a relationship between the slip ratio and the road surface friction coefficient. It is a graph which shows.

  As shown in FIG. 1, power from a power unit 11 including an engine and a transmission is transmitted to left and right front wheels WFL and WFR which are driving wheels, and wheel brakes BFL and BFR are mounted on the front wheels WFL and WFR, respectively. At the same time, wheel speed sensors 12FL and 12FR are additionally provided. Further, wheel brakes BRL and BRR are mounted on the left and right rear wheels WRL and WRR, which are driven wheels, respectively, and wheel speed sensors 12RL and 12RR are respectively attached. Accordingly, the brake fluid pressure is applied from the brake fluid pressure circuit 13 to the wheel brakes BFL, BFR, BRL, BRR.

  As shown in FIG. 2, the braking hydraulic circuit 13 includes a modulator 14FL as an actuator capable of adjusting the braking force of the left front wheel brake BFL, a modulator 14FR as an actuator capable of adjusting the braking force of the right front wheel brake BFR, A modulator 14RL as an actuator capable of adjusting the braking force of the rear wheel brake BRL, a modulator 14RR as an actuator capable of adjusting the braking force of the right rear wheel brake BRR, and liquids common to the modulators 14FL, 14FR, 14RL, and 14RR. And a pressure source 15.

  The hydraulic pressure source 15 includes a hydraulic pump 17 that pumps hydraulic oil from the hydraulic fluid tank 16, an accumulator 18 that is connected to the hydraulic pump 17, and a pressure switch 19 that controls the operation of the hydraulic pump 17. Is provided.

  The modulators 14FL, 14FR, 14RL, and 14RR are arranged in parallel to each other in the common housing 20, and the modulators 14FL, 14FR, 14RL, and 14RR basically have the same configuration. Only one modulator 14FL will be described in detail below, and detailed description of the other modulators 14FR, 14RL, and 14RR will be omitted.

  The housing 20 has an input port 21 connected to the hydraulic pressure source 15, a release port 22 communicating with the hydraulic fluid tank 16, and four output ports individually connected to each wheel brake BFL, BFR, BRL, BRR. 23FL, 23FR, 23RL, and 23RR are provided.

  The modulator 14FL includes a spool 24 that is slidably fitted to the housing 20, and a linear solenoid 25FL that is attached to the housing 20 so as to press the spool 24 in the axial direction. A drive rod 26 of the linear solenoid 25FL is a spool. An output chamber 27 is formed in the housing 20 so that the other end surface of the spool 24 faces the one end portion of the spool 24. Moreover, the output chamber 27 communicates with the output port 23FL, and a return spring 28 that urges the spool 24 toward the linear solenoid 25FL is accommodated in the output chamber 27. Therefore, the spool 24 always comes into contact with the drive rod 26 by the spring force of the return spring 28, and the spool 24 and the linear solenoid 25FL are linked and connected.

  The housing 20 is provided with a cylinder hole 29 that slidably supports the spool 24. An annular groove 30 that communicates with the input port 21 and an annular groove 31 that communicates with the release port 22 are formed on the inner surface of the cylinder hole 29. Are provided at positions spaced apart in the axial direction. An annular recess 32 that always communicates with the output chamber 27 is provided on the outer surface of the spool 24. Thus, the spool 24 communicates the input port 21 and the output chamber 27, that is, the output port 23FL, by communicating the annular recess 32 with the annular groove 30, and the output chamber 27 by communicating the annular recess 32 with the annular groove 31. And the release port 22 communicate with each other in accordance with a change in axial position due to the magnitude relationship between the thrust of the linear solenoid 25FL acting on one axial end and the hydraulic pressure of the output chamber 27 acting on the other axial end. It is.

  By the way, the linear solenoid 25FL generates a thrust according to the input electric quantity, and the hydraulic pressure in the output chamber 27, that is, the hydraulic pressure applied from the output port 23FL to the left front wheel brake BFL is applied to the linear solenoid 25FL. It can be arbitrarily controlled by controlling the electric energy.

  For the other modulators 14FR, 14RL, and 14RR, the hydraulic pressure acting on the wheel brakes BFR, BRL, and BRR can be controlled by controlling the energizing power amount of the linear solenoids 25FR, 25RL, and 25RR, similarly to the modulator 14FL. It is.

  Returning to FIG. 1, the electronic control unit U for executing the anti-lock control includes a pedal force sensor 34 for detecting the pedal force of the brake pedal 33, wheel speed sensors 12FL, 12FR, 12RL, 12RR, and wheel brakes BFL. , BFR, BRL, and hydraulic pressure sensors 35FL, 35FR, 35RL, and 35RR for detecting hydraulic pressure acting on the BRR are connected.

  During normal control in which the wheels WFL, WFR, WRL, WRR do not tend to lock, the electronic control unit U applies a braking force corresponding to the pedaling force based on the pedaling force of the brake pedal 33 detected by the pedaling force sensor 34 to each wheel brake BFL. , BFR, BRL, BRR, the power energizing amounts of the linear solenoids 25FL, 25FR, 25RL, 25RR in the modulators 14FL, 14FR, 14RL, 14RR of the brake hydraulic circuit 13 are controlled.

  On the other hand, at the time of anti-lock control in which the wheels WFL, WFR, WRL, WRR tend to lock, each electronic control unit U detects the wheel speed sensors 12FL, 12FR, 12RL, 12RR and the hydraulic pressure sensors 35FL, 35FR, 35RL, 35RR. The power energizing amounts of the linear solenoids 25FL, 25FR, 25RL, and 25RR in the modulators 14FL, 14FR, 14RL, and 14RR are controlled according to the values.

  Next, the configuration of the electronic control unit U will be described.

  As shown in FIG. 3, the electronic control unit U for performing anti-lock control includes a vehicle body speed calculation unit M1a, a target wheel speed calculation unit M1b, a slip ratio calculation unit M1c, and a target hydraulic pressure calculation unit M1d. , Wheel acceleration / angular velocity calculation unit M2, contact load calculation unit M3, braking force calculation unit M4, road surface friction coefficient estimation unit M5a, road surface friction coefficient update unit M5b, reference hydraulic pressure calculation unit M6, and reference fluid A pressure correction unit M7 and a target hydraulic pressure adjustment unit M8 are included. The vehicle body speed calculation unit M1a, the target wheel speed calculation unit M1b, the slip ratio calculation unit M1c, and the target hydraulic pressure calculation unit M1d together constitute an antilock basic control unit M1. The road surface friction coefficient estimating unit M5a and the road surface friction coefficient updating unit M5b together constitute a road surface friction coefficient calculating unit M5.

  The antilock control is similarly performed for each of the four wheels WFL, WFR, WRL, and WRR. FIG. 3 shows an antilock control device for the left front wheel WFL as a representative example.

  The vehicle body speed calculation unit M1a calculates the vehicle body speed based on, for example, the average values of the outputs of the wheel speed sensors 12FL, 12FR, 12RL, and 12RR of the four wheels WFL, WFR, WRL, and WRR.

  The target wheel speed calculation unit M1b calculates a target wheel speed that becomes a target value of the wheel speed during the antilock control by adding a predetermined slip ratio to the vehicle body speed calculated by the vehicle body speed calculation unit M1a.

  The slip ratio calculation unit M1c calculates the slip ratio of the left front wheel WFL from the vehicle body speed calculated by the vehicle body speed calculation unit M1a and the wheel speed of the left front wheel WFL detected by the wheel speed sensor 12FL.

  When the target hydraulic pressure calculator M1d determines that the slip ratio of the left front wheel WFL calculated by the slip ratio calculator M1c exceeds a predetermined threshold and the left front wheel WFL is in a locking tendency, the target wheel speed calculator M1b calculates it. The target hydraulic pressure corresponding to the deviation between the target wheel speed and the wheel speed of the left front wheel WFL detected by the wheel speed sensor 12FL is calculated.

  The wheel acceleration / angular velocity calculation hand M2 calculates the wheel acceleration of the left front wheel WFL as a differential value of the output of the wheel speed sensor 12FL of the left front wheel WFL, and calculates the wheel angular velocity ω by dividing the wheel speed by the wheel radius. .

The contact load calculation unit M3 calculates the contact load W of the left front wheel WFL by the following equation using the wheel acceleration G calculated by the wheel acceleration / angular velocity calculation hand M2.
W = Wfl + G × (HG / LWB × WT × 1/2)
Wfl: Static load on the left front wheel
HG: High center of gravity
LWB: Wheelbase
WT: Vehicle weight
WF: Sum of static loads of left and right front wheels In the calculation formula of the ground load W, instead of the wheel acceleration G, the longitudinal acceleration of the vehicle is detected by an acceleration sensor attached to the vehicle body, and the acceleration sensor detects It is also possible to use a value. Further, as a substitute value for the wheel acceleration G and the vehicle longitudinal acceleration, it is also possible to use the road friction coefficient estimated and updated by a road surface friction coefficient estimating unit M5a and a road surface friction coefficient updating unit M5b described later.

  The braking force calculation unit M4 calculates the braking force of the left front wheel WFL based on the hydraulic pressure of the wheel brake BFL detected by the hydraulic pressure sensor 35FL of the left front wheel WFL.

  The road surface friction coefficient estimation unit M5a calculates the road surface friction coefficient μ by the following equation using the braking force FB calculated by the braking force calculation unit M4, the ground load W, and the wheel angular velocity ω.

μ = {FB + (I × dω / dt) / r) / W
Where I: Wheel inertia moment
r: Wheel radius Note that this road surface friction coefficient is estimated while the brake is in operation, and μ = 1 when the brake is not in operation.

  The road surface friction coefficient updating unit M5b is a road surface friction coefficient estimating unit when the slip ratio of the left front wheel WFL calculated by the slip ratio calculating unit M1c is increasing and within a predetermined range (for example, 0% to 10%). The road surface friction coefficient estimated in M5a is updated (see FIG. 8).

  The reference hydraulic pressure calculation unit M6 is a reference used for antilock control based on the contact load W of the left front wheel WFL calculated by the contact load calculation unit M3 and the road surface friction coefficient μ updated by the road surface friction coefficient update unit M5b. The hydraulic pressure is calculated by map search. That is, the lower reference hydraulic pressure and the upper reference hydraulic pressure are calculated by applying μ × W corresponding to the frictional force that can be applied between the left front wheel WFL and the road surface to the map of FIG.

  The reference hydraulic pressure correction unit M7 corrects the lower reference hydraulic pressure calculated by the reference hydraulic pressure calculation unit M6 with the slip rate λ calculated by the slip rate calculation unit M1c. That is, the slip λ is applied to the map shown in FIG. 5 to search for the correction coefficient K, and the correction coefficient K is multiplied by the reference hydraulic pressure to be corrected. For example, the correction coefficient K is set to 1 when the slip ratio λ is 5% or less, and is set to a small value close to 0 when the slip ratio λ is 20% or more, and the slip ratio λ is 5% to 20%. In this region, the value decreases linearly from 1 to a small value close to 0. Accordingly, in the region where the slip ratio is small, the lower reference hydraulic pressure is output as it is, and the lower reference hydraulic pressure decreases as the slip ratio increases.

The target hydraulic pressure adjustment unit M8 compares the target hydraulic pressure calculated by the target hydraulic pressure calculation unit M1d with the upper reference hydraulic pressure calculated by the reference hydraulic pressure calculation unit M6. As shown in FIG. 6, the brake fluid pressure is controlled to be reduced when the wheel speed falls below the target wheel speed on the pressure reduction side, and is controlled to increase when the wheel pressure exceeds the target wheel speed on the pressure increase side (> target wheel speed on the pressure reduction side). However, when the target hydraulic pressure becomes lower than the lower reference hydraulic pressure during the pressure reduction process, the target hydraulic pressure is subjected to limit processing so as to coincide with the lower reference hydraulic pressure. That is,
Control is performed as follows: target hydraulic pressure ← lower reference hydraulic pressure.

  Further, when the target hydraulic pressure exceeds the upper reference hydraulic pressure in the process of increasing pressure, the target hydraulic pressure is adjusted to increase gradually.

That is, when the target hydraulic pressure> the upper reference hydraulic pressure and the target hydraulic pressure is increasing,
Target fluid pressure ← (Target fluid pressure−Upper reference fluid pressure) × k + Upper reference fluid pressure
However, 0 <k <1
And when the target hydraulic pressure> the upper reference hydraulic pressure and the target hydraulic pressure is decreasing,
Control is performed as follows: target hydraulic pressure ← target hydraulic pressure.

  Accordingly, the operation of the modulator 14FL of the brake hydraulic circuit 13 is controlled based on the target hydraulic pressure output from the target hydraulic pressure adjusting unit M8.

  FIG. 7 shows changes in the target hydraulic pressure during anti-lock control on the road surface where the road surface friction coefficient gradually decreases. The solid line indicates the control of this embodiment using the lower reference hydraulic pressure, and the broken line indicates the lower side. The conventional control which does not use a reference | standard hydraulic pressure is shown. From this figure, it is understood that the lower reference hydraulic pressure is decreased in accordance with the decrease in the road surface friction coefficient in this embodiment. In the example of FIG. 7, the target hydraulic pressure is not regulated by the upper reference hydraulic pressure.

  As described above, according to this embodiment, as the reference hydraulic pressure at the time of anti-lock control, the lower reference liquid is calculated based on the product of the wheel ground load and the road surface friction coefficient, that is, the frictional force actually acting between the wheel and the road surface. Pressure and upper reference fluid pressure are calculated, and the lower reference fluid pressure and upper reference fluid pressure are used to suppress excessive decrease in target fluid pressure during pressure reduction and excessive increase in target fluid pressure during pressure increase. Thus, the braking efficiency can be improved to further shorten the braking distance, and the brake feeling can be improved.

  Further, according to the present embodiment, the anti-lock control can be accurately performed using the lower reference hydraulic pressure and the upper reference hydraulic pressure, so that the slip ratio of the wheel can be stabilized in a narrow range. Then, the road surface friction coefficient updating unit M5b determines, based on the stable slip ratio, a predetermined region of the slip ratio including the peak of the road surface friction coefficient from the graph showing the relationship between the slip ratio and the road surface friction coefficient shown in FIG. For example, since the road surface friction coefficient is updated when the slip ratio is increasing in the range of 0% to 10%), the peak value of the road surface friction coefficient can be calculated with high accuracy.

  FIGS. 9 and 10 show a second embodiment of the present invention. FIG. 9 is a diagram showing a configuration of a brake hydraulic circuit for the left front wheel, and FIG. 10 is a block diagram showing a configuration of an electronic control unit.

  As shown in FIG. 9, the tandem master cylinder 41 operated by the brake pedal 33 includes a first output port 42 and a second output port 43, and the master cylinder 41 has a first output port 42 and a second output port 43. The first output port 42 and the second output port 43 output hydraulic pressures independent of each other. The first output port 42 is connected to the wheel brake BFL of the left front wheel WFL via the brake hydraulic pressure circuit 13FL, and is connected to the wheel brake BRR of the right rear wheel WRR via the brake hydraulic pressure circuit 13RR. The second output port 43 is connected to the wheel brake BFR of the right front wheel WFR via the brake hydraulic pressure circuit 13FR and is connected to the wheel brake BRL of the left rear wheel WRL via the brake hydraulic pressure circuit 13RL. Since the brake fluid pressure circuits 13FL, 13FR, 13RL, and 13RR have substantially the same structure, FIG. 9 shows the brake fluid pressure circuit 13FL for the left front wheel WFL as a representative.

  The brake hydraulic circuit 13FL includes a normally open solenoid valve 44 provided between the first output port 42 of the master cylinder 41 and the wheel brake BFL, a reservoir 45, and a normally closed solenoid provided between the wheel brake BFL and the reservoir 45. A valve 46 and a return pump 47 having a suction port connected to the reservoir 45 and a discharge port connected between the first output port 42 and the normally open solenoid valve 44 are provided.

  The normally open solenoid valve 44 communicates between the first output port 42 and the wheel brake BFL during demagnetization and prevents hydraulic action from the first output port 42 to the wheel brake BFL during excitation, but the wheel brake BFL. Between the wheel brake BFL and the reservoir 45 at the time of demagnetization, and at the time of excitation, the normally closed solenoid valve 46 can switch between the state allowing the flow of hydraulic fluid from the first to the first output port 42 side. The state of communication between the wheel brake BFL and the reservoir 45 can be switched.

  Thus, the operations of the normally open solenoid valve 44, the normally closed solenoid valve 46, and the return pump 47 in the brake hydraulic circuit 13FL are controlled by the electronic control unit U shown in FIG. As is apparent from a comparison of FIG. 10 with FIG. 3 (first embodiment), the second embodiment includes an increase / decrease holding signal output unit M1e instead of the target hydraulic pressure calculation unit M1d of the first embodiment. In the second embodiment, the increase / decrease holding signal from the increase / decrease holding signal output unit M1e, the hydraulic pressure from the hydraulic pressure sensor 35FL of the left front wheel WFL, and the upper reference hydraulic pressure from the reference hydraulic pressure calculation unit M6 are input. A pressure increase time adjustment unit M9 is provided. Further, in the second embodiment, the hydraulic pressure from the hydraulic pressure sensor 35FL of the left front wheel WFL, the increase / decrease holding signal adjusted by the pressure increasing time adjusting unit M9, and the reference hydraulic pressure corrected by the reference hydraulic pressure correcting unit M7, Is input to the final adjustment unit M10. Other configurations of the second embodiment are the same as those of the first embodiment.

  Therefore, in the control stop mode in which the antilock control is not performed, the normally open solenoid valve 44 is opened and the normally closed solenoid valve 46 is closed, so that the brake pressure from the master cylinder 41 is applied to the wheel brake BFL. Can be transmitted as is.

  On the other hand, in the anti-lock control decompression mode, the brake pressure of the wheel brake BFL is reduced by opening the normally closed solenoid valve 46, and in the holding mode, the wheel brake is closed by closing the normally open solenoid valve 44. The hydraulic fluid pressure of the BFL is maintained, and in the pressure increasing mode, the normally open solenoid valve 44 is repeatedly opened and closed in a short cycle, and the hydraulic fluid pressure from the master cylinder 41 is gradually transmitted to the wheel brake BFL. The brake pressure of the wheel brake BFL is increased. Therefore, by repeatedly performing the pressure reducing mode, the holding mode, and the pressure increasing mode, the braking distance can be shortened while the lock of the wheel WFL is suppressed.

  Next, the operation of the electronic control unit U will be described focusing on the differences from the first embodiment. When the increase / decrease holding signal output unit M1e of the anti-lock basic control unit M1 determines that the slip ratio of the left front wheel WFL calculated by the slip ratio calculation unit M1c exceeds a predetermined threshold and the left front wheel WFL is in a locking tendency, A pressure increase signal, a pressure reduction signal or a holding signal (increase / decrease holding signal) corresponding to the deviation between the target wheel speed calculated by the wheel speed calculation unit M1b and the actual wheel speed is calculated. The pressure increase time adjustment unit M9 determines the pressure increase time during which the normally open solenoid valve 44 opens when the actual hydraulic pressure detected by the hydraulic pressure sensor 35FL is higher than the upper reference hydraulic pressure, as a correction coefficient k (0 <k <1) is used to correct in the decreasing direction as follows.

Pressure increase time ← Pressure increase time x k
The correction coefficient k is retrieved from a map using the actual fluid pressure and the upper reference fluid pressure as parameters. With this control, when the actual hydraulic pressure exceeds the upper reference hydraulic pressure, the pressure increase time is corrected in the decreasing direction and the increase in the actual hydraulic pressure is suppressed to be moderate.

  In the final adjustment unit M10, when the increase / decrease holding signal is reduced (or held), the actual hydraulic pressure tends to decrease, and the actual hydraulic pressure is lower than the lower reference hydraulic pressure, the actual hydraulic pressure is lower. Feedback control is performed to open and close the normally open solenoid valve 44 and the normally closed solenoid valve 46 so as to match the reference hydraulic pressure.

  Thus, the second embodiment can achieve the same effects as those of the first embodiment described above.

  Although the embodiments of the present invention have been described above, various design changes can be made without departing from the scope of the present invention.

  For example, in the embodiment, the control using the lower reference hydraulic pressure and the upper reference hydraulic pressure is performed, but the control using the upper reference hydraulic pressure can be omitted.

  In the above description, the present invention is applied to the antilock control devices for all four wheels, but may be applied to the antilock control devices for some wheels (for example, the left and right front wheels) as necessary.

The figure which shows the braking system of the vehicle which concerns on 1st Example. Diagram showing the configuration of the brake hydraulic circuit Block diagram showing the configuration of the electronic control unit The figure which shows the map which searches the standard hydraulic pressure from road surface friction coefficient and contact load The figure which shows the map which searches the correction coefficient which correct | amends a lower reference | standard hydraulic pressure from slip ratio The figure explaining the function of lower reference fluid pressure and upper reference fluid pressure Graph showing change in target hydraulic pressure during anti-lock control Graph showing the relationship between slip ratio and road friction coefficient The figure which shows the structure of the brake hydraulic circuit of the left front wheel which concerns on 2nd Example. Block diagram showing the configuration of the electronic control unit

Explanation of symbols

12FL wheel speed sensor 12FR wheel speed sensor 12RL wheel speed sensor 12RR wheel speed sensor BFL wheel brake BFR wheel brake BRL wheel brake BRR wheel brake M1a vehicle body speed calculation unit M1c slip rate calculation unit M2 wheel acceleration / angular velocity calculation unit (wheel acceleration calculation unit) )
M3 Contact load calculation unit M4 Braking force calculation unit M5a Road surface friction coefficient estimation unit M5b Road surface friction coefficient update unit U Electronic control unit (anti-lock control means)
WFL Left front wheel (wheel)
WFR Right front wheel (wheel)
WRL Left rear wheel (wheel)
WRR Right rear wheel (wheel)

Claims (1)

When it is determined that the wheels (WFL, WFR, WRL, WRR) tend to be locked based on the wheel speeds detected by the wheel speed sensors (12FL, 12FR, 12RL, 12RR), the wheel brakes (BFL, BFR, BRL, The anti-lock control means (U) for suppressing the lock of the wheels (WFL, WFR, WRL, WRR) by controlling the hydraulic pressure supplied to the BRR) based on the reference hydraulic pressure and the road surface friction coefficient. In the lock control device,
The antilock control means (U)
A braking force calculation unit (M4) for detecting or estimating a braking force generated in the wheel brake (BFL, BFR, BRL, BRR);
A wheel acceleration calculating unit (M2) for calculating wheel acceleration based on the wheel speed;
A contact load calculation unit (M3) for detecting or estimating a contact load of the wheels (WFL, WFR, WRL, WRR);
A road surface friction coefficient estimating unit (M5a) for estimating a road surface friction coefficient based on the braking force, the wheel acceleration, and the ground load;
A vehicle body speed calculation unit (M1a) for calculating a vehicle body speed based on the wheel speed;
A slip ratio calculation unit (M1c) that calculates a slip ratio of a wheel (WFL, WFR, WRL, WRR) based on the wheel speed and the vehicle body speed;
A road surface friction coefficient updating unit (M5b) for updating the road surface friction coefficient estimated by the road surface friction coefficient estimating unit (M5a) when the slip ratio is increasing and smaller than a predetermined value;
An antilock control device for a vehicle, comprising:

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